Steering and Suspension Systems • Steering Systems! – Skid-Steer! – Differential drive! – Trailer steering! – Ackerman steering! – Actively controlled steering (Independent/explicit)! – Holonomic vs. Nonholonomic Systems ! • Suspension Systems! – Rigid Suspension! – Independent Suspension! – Articulated/Split-Body Suspension! – Rocker-Bogie Configurations! – Segmented-Body Rovers! – Active Suspension U N I V E R S I T Y O F Steering and Suspension Systems ENAE 788X - Planetary Surface Robotics MARYLAND 1 Steering Schemes U N I V E R S I T Y O F Steering and Suspension Systems ENAE 788X - Planetary Surface Robotics MARYLAND 2 Fixed Suspension - Electric Tractor (JSC) U N I V E R S I T Y O F Steering and Suspension Systems ENAE 788X - Planetary Surface Robotics MARYLAND 3 ET “Suspension” U N I V E R S I T Y O F Steering and Suspension Systems ENAE 788X - Planetary Surface Robotics MARYLAND 4 Fixed Suspension in Hilly Terrain U N I V E R S I T Y O F Steering and Suspension Systems ENAE 788X - Planetary Surface Robotics MARYLAND 5 ATRV Skid-Steer Robots U N I V E R S I T Y O F Steering and Suspension Systems ENAE 788X - Planetary Surface Robotics MARYLAND 6 Laboratory Robot (CMU) U N I V E R S I T Y O F Steering and Suspension Systems ENAE 788X - Planetary Surface Robotics MARYLAND 7 Laboratory Robot (CMU) U N I V E R S I T Y O F Steering and Suspension Systems ENAE 788X - Planetary Surface Robotics MARYLAND 8 RAVEN (UMd/ASU) U N I V E R S I T Y O F Steering and Suspension Systems ENAE 788X - Planetary Surface Robotics MARYLAND 9 RAVEN in Mobility Testing U N I V E R S I T Y O F Steering and Suspension Systems ENAE 788X - Planetary Surface Robotics MARYLAND 10 Tooth (JPL) - Ackerman Steering U N I V E R S I T Y O F Steering and Suspension Systems ENAE 788X - Planetary Surface Robotics MARYLAND 11 Hyperion (CMU) U N I V E R S I T Y O F Steering and Suspension Systems ENAE 788X - Planetary Surface Robotics MARYLAND 12 Hyperion (CMU) - Trailer Steering U N I V E R S I T Y O F Steering and Suspension Systems ENAE 788X - Planetary Surface Robotics MARYLAND 13 Independent Suspension (Towed Vehicle) U N I V E R S I T Y O F Steering and Suspension Systems ENAE 788X - Planetary Surface Robotics MARYLAND 14 SCOUT Astronaut Support Rover (JSC) U N I V E R S I T Y O F Steering and Suspension Systems ENAE 788X - Planetary Surface Robotics MARYLAND 15 SCOUT Suspension and Steering U N I V E R S I T Y O F Steering and Suspension Systems ENAE 788X - Planetary Surface Robotics MARYLAND 16 Articulating Suspension - Nomad (CMU) U N I V E R S I T Y O F Steering and Suspension Systems ENAE 788X - Planetary Surface Robotics MARYLAND 17 Nomad Transforming Chassis U N I V E R S I T Y O F Steering and Suspension Systems ENAE 788X - Planetary Surface Robotics MARYLAND 18 Nomad in Rough Terrain U N I V E R S I T Y O F Steering and Suspension Systems ENAE 788X - Planetary Surface Robotics MARYLAND 19 Nomad Chassis/Steering System U N I V E R S I T Y O F Steering and Suspension Systems ENAE 788X - Planetary Surface Robotics MARYLAND 20 Nomad with Wheels Stowed U N I V E R S I T Y O F Steering and Suspension Systems ENAE 788X - Planetary Surface Robotics MARYLAND 21 Nomad Steering Schemes U N I V E R S I T Y O F Steering and Suspension Systems ENAE 788X - Planetary Surface Robotics MARYLAND 22 Nomad Power in Skid and Explicit Turns U N I V E R S I T Y O F Steering and Suspension Systems ENAE 788X - Planetary Surface Robotics MARYLAND 23 Steering Power Comparison with Fixed Loads U N I V E R S I T Y O F Steering and Suspension Systems ENAE 788X - Planetary Surface Robotics MARYLAND 24 Nomad Wheel Torques in Skid Turn U N I V E R S I T Y O F Steering and Suspension Systems ENAE 788X - Planetary Surface Robotics MARYLAND 25 Split-Body Rovers (Sandia Labs) U N I V E R S I T Y O F Steering and Suspension Systems ENAE 788X - Planetary Surface Robotics MARYLAND 26 Ratler (Sandia Labs) U N I V E R S I T Y O F Steering and Suspension Systems ENAE 788X - Planetary Surface Robotics MARYLAND 27 Rocker-Bogie - Rocky 4 U N I V E R S I T Y O F Steering and Suspension Systems ENAE 788X - Planetary Surface Robotics MARYLAND 28 Rocky 7 U N I V E R S I T Y O F Steering and Suspension Systems ENAE 788X - Planetary Surface Robotics MARYLAND 29 Sojourner U N I V E R S I T Y O F Steering and Suspension Systems ENAE 788X - Planetary Surface Robotics MARYLAND 30 FIDO (JPL) U N I V E R S I T Y O F Steering and Suspension Systems ENAE 788X - Planetary Surface Robotics MARYLAND 31 Mars Exploration Rover “Spirit” U N I V E R S I T Y O F Steering and Suspension Systems ENAE 788X - Planetary Surface Robotics MARYLAND 32 MER Rocker-Bogie Configuration U N I V E R S I T Y O F Steering and Suspension Systems ENAE 788X - Planetary Surface Robotics MARYLAND 33 Lightweight Survivable Rover Dimensions U N I V E R S I T Y O F Steering and Suspension Systems ENAE 788X - Planetary Surface Robotics MARYLAND 34 Mars Science Laboratory Development Unit U N I V E R S I T Y O F Steering and Suspension Systems ENAE 788X - Planetary Surface Robotics MARYLAND 35 MSL Engineering Development Unit U N I V E R S I T Y O F Steering and Suspension Systems ENAE 788X - Planetary Surface Robotics MARYLAND 36 K-Rex Rover (CMU for NASA Ames) U N I V E R S I T Y O F Steering and Suspension Systems ENAE 788X - Planetary Surface Robotics MARYLAND 37 K-Rex Wheel Drive/Steering System U N I V E R S I T Y O F Steering and Suspension Systems ENAE 788X - Planetary Surface Robotics MARYLAND 38 Revised K-Rex Rover (NASA Ames) U N I V E R S I T Y O F Steering and Suspension Systems ENAE 788X - Planetary Surface Robotics MARYLAND 39 K-Rex Differential Bar U N I V E R S I T Y O F Steering and Suspension Systems ENAE 788X - Planetary Surface Robotics MARYLAND 40 K-Rex Steering Demonstration U N I V E R S I T Y O F Steering and Suspension Systems ENAE 788X - Planetary Surface Robotics MARYLAND 41 K-Rex Obstacle Handling Demo U N I V E R S I T Y O F Steering and Suspension Systems ENAE 788X - Planetary Surface Robotics MARYLAND 42 Lunar X-Prize (CMU) U N I V E R S I T Y O F Steering and Suspension Systems ENAE 788X - Planetary Surface Robotics MARYLAND 43 Articulated Bogey Configuration U N I V E R S I T Y O F Steering and Suspension Systems ENAE 788X - Planetary Surface Robotics MARYLAND 44 Segmented Body - Marsokhod U N I V E R S I T Y O F Steering and Suspension Systems ENAE 788X - Planetary Surface Robotics MARYLAND 45 Marsokhod Chassis U N I V E R S I T Y O F Steering and Suspension Systems ENAE 788X - Planetary Surface Robotics MARYLAND 46 Robby (JPL) U N I V E R S I T Y O F Steering and Suspension Systems ENAE 788X - Planetary Surface Robotics MARYLAND 47 Go-For (JPL) U N I V E R S I T Y O F Steering and Suspension Systems ENAE 788X - Planetary Surface Robotics MARYLAND 48 SCARAB (CMU) U N I V E R S I T Y O F Steering and Suspension Systems ENAE 788X - Planetary Surface Robotics MARYLAND 49 Scarab Wheel Articulation (CMU) U N I V E R S I T Y O F Steering and Suspension Systems ENAE 788X - Planetary Surface Robotics MARYLAND 50 SCARAB at Full Extension (CMU) U N I V E R S I T Y O F Steering and Suspension Systems ENAE 788X - Planetary Surface Robotics MARYLAND 51 Mars Rover (VNIITransmash - U N I V E R S I T Y O F Steering and Suspension Systems ENAE 788X - Planetary Surface Robotics MARYLAND 52 Apollo Lunar Roving Vehicle U N I V E R S I T Y O F Steering and Suspension Systems ENAE 788X - Planetary Surface Robotics MARYLAND 53 SCOUT Rover (JSC) U N I V E R S I T Y O F Steering and Suspension Systems ENAE 788X - Planetary Surface Robotics MARYLAND 54 Electric Tractor and Chariot (JSC) U N I V E R S I T Y O F Steering and Suspension Systems ENAE 788X - Planetary Surface Robotics MARYLAND 55 Active Suspension - Chariot U N I V E R S I T Y O F Steering and Suspension Systems ENAE 788X - Planetary Surface Robotics MARYLAND 56 Chariot B Climbs a Boulder Field U N I V E R S I T Y O F Steering and Suspension Systems ENAE 788X - Planetary Surface Robotics MARYLAND 57 SEV Driving Onto ~20° Slope U N I V E R S I T Y O F Steering and Suspension Systems ENAE 788X - Planetary Surface Robotics MARYLAND 58 SEV on ~20° Slope U N I V E R S I T Y O F Steering and Suspension Systems ENAE 788X - Planetary Surface Robotics MARYLAND 59 SEV Dual Bogie Soil Contact U N I V E R S I T Y O F Steering and Suspension Systems ENAE 788X - Planetary Surface Robotics MARYLAND 60 ATHLETE (JPL) U N I V E R S I T Y O F Steering and Suspension Systems ENAE 788X - Planetary Surface Robotics MARYLAND 61 Centaur with Robonaut (JSC) U N I V E R S I T Y O F Steering and Suspension Systems ENAE 788X - Planetary Surface Robotics MARYLAND 62 Centaur Body Pose and Turning U N I V E R S I T Y O F Steering and Suspension Systems ENAE 788X - Planetary Surface Robotics MARYLAND 63 Palm Pilot Robot (CMU)(Holonomic) U N I V E R S I T Y O F Steering and Suspension Systems ENAE 788X - Planetary Surface Robotics MARYLAND 64 Tessellator (CMU) (Holonomic) U N I V E R S I T Y O F Steering and Suspension Systems ENAE 788X - Planetary Surface Robotics MARYLAND 65.